Manipulator system and manipulator operation method
AssigneeOlympus Corporation
InventorsShota SAWADA, Kosuke KISHI
Life of this patent
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Abstract
A manipulator system includes: a manipulator including a bending portion and a bending wire configured to bend the bending portion; a driving portion configured to pull and loosen the bending wire; and a control device configured to control the driving portion, wherein the control device controls the driving portion to perform an initialization operation that alternately repeats pulling and loosening of the bending wire so that an amount of change in a bending shape of the bending portion compared to when the initialization operation is started falls within a predetermined range.
Claims20
A manipulator system, comprising:
- a manipulator including a bending portion and a bending wire configured to bend the bending portion;
- a driving portion configured to pull and loosen the bending wire;
- and
- a control device configured to control the driving portion,
- wherein the control device controls the driving portion to perform an initialization operation that alternately repeats pulling and loosening of the bending wire so that an amount of change in a bending shape of the bending portion compared to when the initialization operation is started falls within a predetermined range.
A manipulator operation method for operating a manipulator having a bending portion that is bent by a bending wire, the method comprising:
- a step of optimizing a path of the bending wire,
- wherein, in the step, an initialization operation that alternately repeats pulling and loosening of the bending wire is performed so that an amount of change in a bending shape of the bending portion falls within a predetermined range.
Dependencies are inferred from the claim text.